IAI America PDR-101-MW - Manual (Page 8)

5. Control and Function of I/O Signals.................................................... 28
5.1 Input Signals ................................................................................................................................. 28
5.1.1 Servo ON Signal (SON)......................................................................................................... 28
5.1.2 Alarm Reset Signal (RES) ..................................................................................................... 29
5.1.3 Homing Command Signal (ORGC)........................................................................................ 30
5.1.4 Torque Limit Selection Signal (TL)......................................................................................... 30
5.1.5 Forced Stop Signal (CSTP) ................................................................................................... 31
5.1.6 Command Pulse Inputs (PP, /PP, NP, /NP)............................................................................ 31
5.2 Output Signals............................................................................................................................... 33
5.2.1 System Ready Signal (SRDY) ............................................................................................... 33
5.2.2 Operation Ready Signal (RUN) ............................................................................................. 33
5.2.3 Positioning Completion Signal (INP) ..................................................................................... 33
5.2.4 Homing Completion Signal (ORGR)...................................................................................... 34
5.2.5 Torque Limiting Signal (TLR) ................................................................................................. 34
5.2.6 Alarm/Fault Signal (ALM)....................................................................................................... 35
5.2.7 Feedback Pulse Output Signals (AFB, /AFB, BFB, /BFB, ZFB, /ZFB, GND)........................ 35
6. Parameters ......................................................................................... 36
6.1 Parameter Configuration............................................................................................................... 36
6.2 Parameter List............................................................................................................................... 36
6.3 Parameter Setting ......................................................................................................................... 40
6.3.1 Basic Settings ........................................................................................................................ 40
(1) Electronic Gear ...................................................................................................................... 40
(2) Command Pulse Input Mode ................................................................................................. 42
6.3.2 Application Settings ............................................................................................................... 43
(1) PIO Function Setting Flag...................................................................................................... 43
(2) Communication Speed........................................................................................................... 44
(3) Flag for Setting Function at Stop ........................................................................................... 44
(4) Software Stroke Limit............................................................................................................. 44
(5) Ball Screw Lead Length......................................................................................................... 46
(6) Motor Type ............................................................................................................................. 46
(7) Encoder Type......................................................................................................................... 47
(8) Number of Encoder Pulses.................................................................................................... 47
(9) Axis Operation Type............................................................................................................... 48
(10) In-Position Width.................................................................................................................... 48
(11) Deviation Error Output Range ............................................................................................... 49
(12) Homing Pattern Code ............................................................................................................ 49
(13) Speed Command Value at Homing........................................................................................ 50
(14) Acceleration Command Value at Homing.............................................................................. 51
(15) Offset Amount at Homing....................................................................................................... 51
(16) Homing Deviation Pulse ........................................................................................................ 52
(17) Position Control Loop Proportional Gain ............................................................................... 52
(18) Position Command Primary Filter Time Constant.................................................................. 53
(19) Position Feed-Forward Gain.................................................................................................. 53
(20) Jog Acceleration Default Value .............................................................................................. 54
(21) Jog Deceleration Default Value ............................................................................................. 55
(22) Jog Speed Default Value ....................................................................................................... 56